Rotary tool for remote power line operations

ABSTRACT

Rotary tools for operating on energized power lines are described herein. The rotary tool may be used to manipulate wire ties wrapped around the conductors and to clean the conductors. The rotary tool may comprise a planetary gear set. A ring gear may comprise a receiving portion through which an end of the wire tie is received and, as the ring gear rotates, the wire tie is fed through the receiving portion and unwound about the conductor. A spring-loaded rod assembly may also be used, having a rod that is kept proximal to the conductor by the spring. The rod may be inserted between the conductor and the wire tie and rotated along with the ring gear to unwind the wire tie. The rod may comprise wire bristles to abrade corrosive material off the conductor. The rotary tool may be remotely operated by a robotic unit.

BACKGROUND 1. Field

Embodiments of the present teachings relate to tools for operating onpower lines. More specifically, embodiments of the present teachingsrelate to a remotely operated rotary tool for operating on power lines.

2. Related Art

Utility workers commonly utilize an aerial device to reach remotelocations, such as overhead power lines, for installation, repair,and/or maintenance of electric power components. Due to the inherentdangers with operating on energized power lines and at high heights, itis desired to perform power line maintenance in a safer manner byremoving the lineman from near the power line to a safe location awayfrom the power line.

Wire ties are used to couple conductors to pole top insulators on powerlines. Whenever maintenance needs to be performed on the conductors, thewire ties must be removed. Typically, the lineman uses a ring toolhaving an opening in which the wire tie is inserted, and the ring toolis then rotated about the conductor. As the wire tie is unwound, theunwound portion of the wire tie becomes physically separated from theconductor, while the wound portion is still in contact with theconductor such that the unwound portion is left dangling but still has ahigh voltage. This dangling high voltage section of wire tie presents ashock hazard and is easily and unpredictably blown by the wind, makingit dangerous for lineman to manipulate wire ties on energized powerlines.

What is needed is a rotary tool for manipulating wire ties. Further,what is needed is a rotary tool for manipulating wire ties that can beremotely operated.

SUMMARY

Embodiments of the disclosure solve the above-mentioned problems byproviding a rotary tool for manipulating wire ties on live power lines.The rotary tool may be remotely controlled and robotically actuated tomanipulate the wire tie. The rotary tool may comprise one or more slotsfor receiving a conductor therein. The rotary tool may comprise a drivesystem configured as a planetary gear set. In some embodiments, a ringgear of the planetary gear set comprises a receiving portion in which afree end of the wire tie is received. The receiving portion may rotatewith the ring gear and about the conductor to unwind the wire tietherefrom. In some embodiments, the ring gear is coupled to aspring-loaded rod that is inserted between the conductor and the wiretie. The spring-loaded rod may rotate with the ring gear and, by stayingbetween the conductor and the wire tie, unwinds the wire tie from theconductor. The spring-loaded rod may comprise external wire bristles toabrade corrosive material off the conductor.

In a first embodiment, the techniques described herein relate to asystem for remotely manipulating wire ties on energized power lines, thesystem including a robot unit mounted to a boom assembly. The robot unitincluding at least one robotic arm for performing an action, and atleast one camera for capturing visual information, and a rotary tooldriven by the robot unit. The rotary tool including a housing coupled tothe at least one robotic arm, the housing including a slot for receivinga conductor therein, and a drive system coupled to the housing, thedrive system including a planetary gear set, wherein when the robot unitdrives the drive system, a ring gear of the planetary gear set isrotated around the conductor to rotate a wire tie about the conductor.

In a second embodiment, the techniques described herein relate to thesystem described in embodiment one, wherein the ring gear includes afirst arm coupled to a rod and a second arm coupled to a spring, whereinthe rod is configured to be inserted between the conductor and the wiretie, and wherein the spring is coupled to the rod to spring-load the rodto keep the rod proximal to the conductor as the ring gear rotates.

In a third embodiment, the techniques described herein relate to thesystem described in embodiments one and two, wherein the at least onerobotic arm includes a first robotic arm and a second robotic arm,wherein the first robotic arm is coupled to the rotary tool, and whereinthe second robotic arm includes a gripper to manipulate the wire tie forinserting the rod between the conductor and the wire tie.

In a fourth embodiment, the techniques described herein relate to thesystem described in embodiments one through three, wherein the rodincludes an abrasive material on an exterior thereof for removingcorrosion from the conductor.

In a fifth embodiment, the techniques described herein relate to thesystem described in any of embodiments one through four, wherein thering gear includes a receiving portion having a hole therethrough andextending from a perimeter of the ring gear, and wherein the receivingportion receives a free end of the wire tie and is rotated with the ringgear to unwind the wire tie from the conductor.

In a sixth embodiment, the techniques described herein relate to thesystem described in any of embodiments one through five, wherein thereceiving portion is configured to feed an unwound portion of the wiretie to a cutter, wherein the cutter cuts the unwound portion of the wiretie to remove the unwound portion of the wire tie from an energizedportion of the wire tie.

In a seventh embodiment, the techniques described herein relate to thesystem described in any of embodiments one through six, wherein thereceiving portion is configured to feed an unwound portion of the wiretie to a die, wherein the die bends the unwound portion of the wire tieto form the unwound portion of the wire tie into a coil.

In an eight embodiment, the techniques described herein relate to thesystem described in any of embodiments one through seven, wherein thedrive system is driven by one of an impact drill or an integrated motor.

In a ninth embodiment, the techniques described herein relate to arotary tool for remotely operating on live power lines. The rotary toolcomprises a housing including a first slot for receiving a conductortherein, a drive system coupled to the housing, the drive systemincluding: a sun gear configured to be coupled to a motor, a pluralityof planetary gears meshed with the sun gear, and a ring gear meshed withthe plurality of planetary gears; and a spring-loaded rod coupled to thering gear, wherein the spring-loaded rod is configured to be insertedbetween the conductor and a wire tie wound around the conductor, andwherein when the drive system is driven by the motor, the ring gear isrotated by the sun gear and drives the plurality of planetary gears,thereby rotating the spring-loaded rod to unwind the wire tie from theconductor.

In a tenth embodiment, the techniques described herein relate to therotary tool described in embodiment nine, wherein the housing furtherincludes a cutter for cutting an unwound portion of the wire tie as thewire tie is unwound from the conductor.

In an eleventh embodiment, the techniques described herein relate to therotary tool described in embodiments nine and ten, wherein the housingfurther includes a die, the die formed to bend the wire tie into a coilas the wire tie is fed through the die.

In a twelfth embodiment, the techniques described herein relate to therotary tool described in any of embodiments nine through eleven, whereina surface of the die includes an angle of about ninety degrees.

In a thirteenth embodiment, the techniques described herein relate tothe rotary tool described in any of embodiments nine through twelve,wherein the ring gear includes a first arm and a second arm extendingfrom a perimeter thereof, wherein the spring-loaded rod is coupled tothe first arm, wherein a spring is coupled to the second arm, andwherein the spring extends from the second arm and couples to thespring-loaded rod to keep the spring-loaded rod in contact with theconductor as the ring gear rotates.

In a fourteenth embodiment, the techniques described herein relate tothe rotary tool described in any of embodiments nine through thirteen,wherein the spring-loaded rod includes a plurality of wire bristles onan exterior surface thereof to clean the conductor.

In a fifteenth embodiment, the techniques described herein relate to arotary tool for remotely operating on live power lines. The rotary toolincludes a housing including a slot for receiving a conductor therein, adrive system, the drive system including: a sun gear; a plurality ofplanetary gears meshed with the sun gear, wherein the plurality ofplanetary gears is driven by the sun gear; and a ring gear meshed withand driven by the plurality of planetary gears, wherein the ring gearincludes a receiving portion for receiving a free end of a wire tietherein, and wherein actuation of the drive system causes the ring gearto rotate around the conductor, thereby unwinding the wire tie from theconductor.

In a sixteenth embodiment, the techniques described herein relate to therotary tool described in embodiment fifteen, wherein the housing isconfigured to couple to a first arm of a robotic unit.

In a seventeenth embodiment, the techniques described herein relate tothe rotary tool described in embodiments fifteen and sixteen, whereinthe plurality of planetary gears is in a range of two to eight.

In an eighteenth embodiment, the techniques described herein relate tothe rotary tool described in any of embodiments fifteen throughseventeen, wherein the housing includes a cutter disposed proximal tothe receiving portion, wherein the cutter cuts the wire tie after thewire tie is fed through the receiving portion.

In a nineteenth embodiment, the techniques described herein relate tothe rotary tool described in any of embodiments fifteen througheighteen, wherein the cutter is configured to make one cut perrevolution of the ring gear.

In a twentieth embodiment, the techniques described herein relate to therotary tool described in any of embodiments fifteen through nineteen,wherein the housing includes a die disposed proximal to the receivingportion, wherein the die forms the wire tie into a bend after the wiretie is fed through the receiving portion.

This summary is provided to introduce a selection of concepts in asimplified form that are further described below in the detaileddescription. This summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used to limit the scope of the claimed subject matter. Other aspectsand advantages of the present teachings will be apparent from thefollowing detailed description of the embodiments and the accompanyingdrawing figures.

BRIEF DESCRIPTION OF THE DRAWING FIGURES

Embodiments of the present teachings are described in detail below withreference to the attached drawing figures, wherein:

FIG. 1 is an aerial device for some embodiments;

FIG. 2 is an exemplary system architecture of a robot unit and manualcontrols for some embodiments;

FIG. 3 is a remote assembly system for some embodiments;

FIG. 4A illustrates a perspective view of a rotary tool for someembodiments;

FIG. 4B illustrates a planar view of the rotary tool for someembodiments;

FIG. 4C illustrates the rotary tool operating on a power line for someembodiments;

FIG. 5A illustrates a perspective view of a second embodiment of therotary tool;

FIG. 5B illustrates a planar view of the second embodiment of the rotarytool; and

FIG. 5C illustrates the second embodiment of the rotary tool operatingon a power line.

The drawing figures do not limit the present teachings to the specificembodiments disclosed and described herein. The drawings are notnecessarily to scale, emphasis instead being placed upon clearlyillustrating the principles of the present teachings.

DETAILED DESCRIPTION

The following detailed description references the accompanying drawingsthat illustrate specific embodiments in which the present teachings canbe practiced. The embodiments are intended to describe aspects of thepresent teachings in sufficient detail to enable those skilled in theart to practice the present teachings. Other embodiments can beutilized, and changes can be made without departing from the scope ofthe present teachings. The following detailed description is, therefore,not to be taken in a limiting sense. The scope of the present teachingsis defined only by the appended claims, along with the full scope ofequivalents to which such claims are entitled.

In this description, references to “one embodiment,” “an embodiment,” or“embodiments” mean that the feature or features being referred to areincluded in at least one embodiment of the technology. Separatereferences to “one embodiment,” “an embodiment,” or “embodiments” inthis description do not necessarily refer to the same embodiment and arealso not mutually exclusive unless so stated and/or except as will bereadily apparent to those skilled in the art from the description. Forexample, a feature, structure, act, etc. described in one embodiment mayalso be included in other embodiments but is not necessarily included.Thus, the technology can include a variety of combinations and/orintegrations of the embodiments described herein.

Embodiments discussed herein are generally directed to a rotary tool forremotely operating on live power lines to manipulate a wire tire on aconductor of the power line. The rotary tool may comprise at least oneslot for receiving the conductor therein. A planetary gear system maydrive a ring gear to rotate the wire tie about the conductor. In someembodiments, the wire tie is received through a hole on a perimeter ofthe ring gear. In some embodiments, a spring-loaded rod is insertedbetween the conductor and the wire tie to manipulate the wire. Therotary tool may attach to a robotic arm of a unit assembly disposed at adistal end of a boom. An operator may control the rotary tool via therobotic unit using an input system, such as a virtual reality inputsystem. Thus, the operator may manipulate the wire tie on a live powerline without any risk of harm to the operator.

In some embodiments, the spring-loaded rod comprises a wire brush forcleaning conductors. Over time, corrosive material may build up onconductors, and it is desirable to clean the corrosive material off theconductors when performing operations thereon. As such, by adding wirebrush material (e.g., stainless steel bristles) to an exterior of thespring-loaded rod, as the spring-loaded rod spins around the conductor,the wire brush may clean any corrosive material present on the conductorto prepare the conductor for a jump.

Exemplary Aerial Device

FIG. 1 depicts an aerial device 100 of some embodiments. The aerialdevice 100 comprises a utility vehicle 112, a boom assembly 114, and aremote assembly system 300. The boom assembly 114 comprises a boom 118having a boom proximal end 120 and a boom distal end 122. In someembodiments, the boom 118 is one of a telescoping boom 118 or anarticulating boom 118. The boom assembly 114 may be attached to theutility vehicle 112 at the boom proximal end 120. The remote assemblysystem 300 may be secured to the boom distal end 122, such that theremote assembly system 300 is supported by the boom assembly 114. Insome embodiments, and as described in greater detail below, the remoteassembly system 300 may comprise at least a robot unit adapted forperforming telecommunications repair, power line repair, general repairwork, or other actions that may be performed by a robot. For example,the robot unit may comprise one or more utility tools for performingactions such as manipulating wire ties. The robot unit may also compriseutility tools for sawing, cutting, screwing, wiring, or other actionsassociated with repair work. In some embodiments, the boom 118 is usedto position the remote assembly system 300 in a remote location, suchas, for example adjacent to an energized power line.

As described herein, the robot unit may be controlled remotely by anoperator to perform actions, such as power line repair work. Forexample, the robot unit may control the rotary tool described inembodiments herein. Through such remote control, the operator is removedfrom any potentially dangerous situations. To provide the operator withvisual, sensory, and other information, the robot unit may furthercomprise a sensory capturing system comprising at least a camera and athree-dimensional depth camera. Video information may be provided to theoperator through a virtual reality (“VR”) headset and the operator mayissue commands through joysticks or other controllers to instruct therobot unit to perform an action. To aid the operator and/or the robotunit in performing actions efficiently and correctly, three-dimensionaldepth information may be captured by the three-dimensional depth camerafor generating a three-dimensional representation of the field of viewat a computer. Accordingly, the computer can receive instructions,compare the instructions to the three-dimensional representation, andcause the robot unit to perform an action based on the instructions andthe three-dimensional representation. To further aid in providing arealistic and immersive experience to the operator, the robot unit maycomprise a six degree-of-freedom (“DOF”) camera mount for mimicking orreplicating the movement of the operator. Accordingly, in addition tomovement in the x, y, and z planes, the robot unit can further controlpitch, yaw, and roll of the camera mount. However, it will beappreciated that particular embodiments and applications of the presentteachings may vary, including any of the examples provided herein. Forexample, the present teachings may be utilized in a variety ofapplications, including but not limited to military applications,construction applications, rescue applications, health and safetyapplications or other applications that robotics may be utilized.Accordingly, it will be appreciated that specific embodiments or detailsprovided herein are intended to be illustrative, rather than limiting.

Exemplary System Architecture

FIG. 2 depicts an exemplary block diagram 200 related to embodiments ofthe present teachings. In some embodiments, the remote assembly system300 comprises various assemblies, sub-assemblies, parts, or componentsfor capturing sensory information and/or for performing actions, such asrepair work in a telecommunication setting. The remote assembly system300 may comprise various circuitry, parts, or other components forcapturing sensory information, including video, three-dimensional depthinformation, audio, and other sensory data. Further, the remote assemblysystem 300 may comprise a manually controlled or autonomous robot unitthat may be positioned at the end of the boom assembly 114 forinteracting with a work site to perform one or more tasks. For example,as described above, in many real-life scenarios, tasks to be performedmay not be discovered until reaching the job site, and accordingly, therobot unit may comprise a variety of tools, features, or functions torespond to a variety of different tasks. Additionally, as described ingreater detail below, the remote robot assembly may further comprise oneor more parts, components, or features for providing an operator withsensory information, providing the operator with additional informationabout the job site to improve efficiency, efficacy, and/or safety ofboth the remote assembly system 300 and the operator.

As depicted in the block diagram 200, a remote assembly 202 comprises atleast a remote capture device 210, a computer 260, and a control system280. In some embodiments, and as described in greater detail herein, theremote capture device 210 may be a device configured and adapted for thecapturing of sensory information and may be positioned on a robot unitfor the capturing of sensory information that may be utilized bycomputer 260, to present information to an operator via control system280, among other purposes. FIG. 2 depicts exemplary sensors, cameras,and other apparatuses that may be utilized by remote capture device 210for the capturing of sensory information. As described in greater detailbelow, remote capture device 210 may be mounted or positioned on aselectively movable mount or portion of a robot unit. For example, therobot unit may be a robot unit positioned at the end of a boom assemblyfor aerial applications. However, remote capture device 210 may also beused with a robot unit that is not attached on a boom assembly, and forexample, may be utilized with a robot unit for ground application orattached to a mechanical arm or an aerial drone. Accordingly, via therobot unit, sensory information may be captured by remote capture device210.

Through selective inputs, including both manually inputted instructionsand/or automated instructions, remote capture device 210 may capturevideo, still images, three-dimensional depth information, audio,electrical conductivity, voltage, among other information that may becaptured by a sensor or recording device. For example, remote capturedevice 210 may comprise at least one camera 212 for the capturing ofvideo or still images (collectively, “video”). The at least one camera212 may be a camera positioned on remote capture device 210 for thecapturing of video within a selected field of view. The resolution ofthe video captured by camera 212 may vary, but in some embodiments,camera 212 may be a camera configured for capturing in at least 720presolution but may capture in higher resolution including but notlimited to 1080p, 2K, 3K, 4K, or 8K resolution. However, it will beappreciated that the camera 212 may be any currently known or yet to bediscovered camera for capturing video. Video captured from camera 212may be stored locally at remote capture device 210 at a local memory214. The storing of video at local memory 214 may aid in providing afailsafe or backup storage of captured video in the event of atransmission or upload failure. Further, the storing of video at localmemory 214 may aid in situations of poor wireless connection or if adirect line becomes loose or interrupted, preventing the immediatetransmission of captured video. Optionally or additionally, videocaptured from camera 212 may be transmitted to computer 260 forprocessing, analyzing, storage, and/or for later transmitting to controlsystem 280. In further embodiments, video captured from camera 212 maybe directly transmitted to control system 280 for processing.

In some embodiments, remote capture device 210 may further comprise atleast one three-dimensional camera 216 or other device configured forcapturing three-dimensional depth information. As described in greaterdetail below, the three-dimensional depth camera 216 may be utilized forcapturing three-dimensional depth information within a field of view forcreating a point cloud, 3-D model, or other digital representation of anobject or area scanned or viewed by the three-dimensional camera 216.Three-dimensional camera 216 may be operated in conjunction with, orindependent from camera 212 or other components or parts of remoteassembly 202 and/or remote capture device 210. As described in greaterdetail below, in response to instructions or an input, three-dimensionalcamera 216 may begin capturing three-dimensional depth information aboutan object or area within a field of view. Like the captured video withrespect to camera 212, the three-dimensional depth information capturedby three-dimensional camera 216 may be saved locally at memory 214. Insome embodiments, remote capture device 210 may comprise a separatememory 214 for video captured by camera 212 and a separate memory 214for three-dimensional information captured by three-dimensional camera216. As described in greater detail below, remote capture device 210 maycomprise a microphone 218 and/or at least one sensor 220 for capturingadditional sensory information. Accordingly, in some embodiments, aseparate and distinct memory 214 may be used for each sensory capturedevice (i.e., camera 212, three-dimensional camera 216, microphone 218,and/or sensor 220). In further embodiments, remote capture device 210may comprise a single memory 214 for the storing of all captured sensoryinformation. As described above and in further embodiments,three-dimensional information may be directly sent to computer 260 inaddition to or instead of storing locally at memory 214.

In addition to capturing video and/or three-dimensional information, itmay also be advantageous for remote capture device 210 to captureadditional sensory information that may be presented to an operator orprocessed by computer 260. For example, in certain scenarios it may beadvantageous for remote capture device 210 to capture audio via at leastone microphone 218. Continuing with the running example, a remoteassembly 202 for use with telecommunications repair may utilize audioinformation for diagnostic or safety purposes. For example, audioinformation may capture the sounds of the job site and the audioinformation may be processed to determine if a job site is safe.Accordingly, in some embodiments, remote capture device 210 may compriseat least one microphone 218 for the capturing of audio information.Similar to the video and three-dimensional information as describedabove, captured audio information may be stored locally at a memory 214and/or transmitted to a computer 260 and/or control system 280.

Similar to audio information, remote capture device 210 may furthercomprise one or more sensors 220 for the capturing of additional sensoryinformation, metrics, or data. For example, continuing with the runningexample, the remote capture device 210 may be used with a remoteassembly 202 positioned at the end of boom assembly 114 fortelecommunication or power line work. In such a work application, theremote assembly 202 may be working on or near live power lines or otherconductive lines transferring electricity. Accordingly, in someembodiments, remote capture device 210 may comprise at least one sensor220 configured as an electricity sensor for determining whether a cableor power line has electricity running through it. However, it will beappreciated that remote capture device 210 may comprise additionalsensors 220 configured and adapted for providing remote capture deviceand/or remote assembly 202 with additional information. By way of anon-limiting example, sensor 220 may comprise any of the followingsensors: a gyroscope, an accelerometer, a thermometer, a barometer, alight emitter, a voltage detector, a weight-detection sensor, QR reader,magnetometers, pose sensor, rotary encoder, among other sensors that maybe utilized in various applications of remote assembly 202.

For example, in some embodiments, at least one sensor 220 may be adaptedand configured as a sensor for estimating the weight of an object. Asdescribed in greater detail below with respect to FIG. 3 , in someembodiments, comprises a remote assembly comprising a robot unit toperform fine tuning or other dexterous actions and a heavy load bearingutility arm for holding and moving heavy loads. To aid an operator indetermining whether the robot unit for fine tuning work can safely holdor manipulate an object, at least one sensor 220 may be a weightestimator. For example, the weight estimator may utilize point cloudweight estimation to estimate the weight of an object. The weightestimator may capture various images of an object for the generation ofa point cloud based on the object. By way of non-limiting example, theweight estimator may capture an image of a powerline transformer. Thegenerated point cloud image may determine the transformer comprises adiameter of 13.4″ and a height of 15.8.″ Based on this information, adetermination may be made that the transformer comprises a weight of472.9 Lbs. This information may be presented to computer 260 or anoperator in the manner described below, and the computer 260 and/or theoperator may make a determination as to whether the robot unit or theheavy load bearing utility arm can safely hold and move an object.

Further, in some embodiments, at least one sensor 220 may be a quickresponse (“QR”) reader for reading QR codes. For example, in someapplications, remote assembly 202 may be applied in a scenario in whichobjects or assets may be applied with or comprise a QR code. Throughutilization of a QR reader, information about the object or asset may bequickly ascertained and provided to computer 260 and/or an operator.Non-limiting examples of information that may be obtained through a QRreader may be the BIM specifications of an object, such as weight, size,lifting points, ratings, etc. It should be understood however, that anyinformation about the object or asset may be ascertained through QRreading.

It should be understood that in some embodiments, remote assembly 202may comprise a plurality of remote capture devices 210. Further, each ofthe remote capture devices 210 in the plurality of remote capturedevices 210 may comprise varying components (I.e., camera 212,three-dimensional camera 216, sensor 220, etc.). Even further, eachremote capture device 210 in the plurality of remote capture devices 210may comprise uniform components. For example, as described above, remotecapture device 210 may be used with a boom-mounted robot unit comprisinga camera mount and at least one utility arm. A remote capture device 210comprising camera 212, three-dimensional camera 216, and microphone 218may be paired or positioned on the camera mount. Simultaneously, asecond remote capture device 210 comprising a sensor 220 for detectingan electric voltage and a microphone 218 may be paired or incorporatedinto the utility arm.

In some embodiments, the remote assembly 202 further comprises at leastone digital Hub 222. The digital Hub 222 may receive the capturedsensory information from remote capture device 210 and convert thecaptured sensory information into a format suitable for transmitting tocomputer 260 and/or control system 280. In some embodiments, the digitalHub 222 is a USB Hub, such as, for example, a USB 3.0. In furtherembodiments, sensory information may be captured using Ethernet camerasor Ethernet coupled capture devices. Accordingly, in some embodiments,digital hub 222 may be replaced, substituted, or used in conjunctionwith an ethernet switch. It should be understood that sensoryinformation may be captured in a variety of different formats.Accordingly, remote assembly 202 may utilize any hardware or softwarefor receiving, analyzing, and/or transmitting sensory information.

As further depicted in FIG. 2 , remote assembly 202 may further comprisea controller 224. In some embodiments, controller 224 may be a processoror other circuitry or computer hardware for receiving commands orinstructions from control system 280 and/or computer 260 and forrelaying or providing commands to remote capture device 210 and/ormotion controls 230. Accordingly, in some embodiments, instructions, orcommands from controller 224 may be sent to remote capture device 210.For example, instructions sent from controller 224 to remote capturedevice 210 may include instructions to begin recording video via camera212. However, it will be appreciated that instructions sent fromcontroller 224 may cause any of the components of remote capture device210 to begin capturing sensory information, including but not limited tothree-dimensional information, audio information, or other sensoryinformation captured by any of the sensors 220 of remote capture device210. Additionally, controller 224 may be used to send instructions tocause remote assembly 202, remote capture device 210, and/or motioncontrols 230 to perform other actions corresponding to the instructions.For example, instructions from controller 224 may instruct remotecapture device 210 to store captured sensory information on memory 214.Additionally, instructions from controller 224 may be sent to motioncontrols 230 to instruct remote assembly 202 to perform a movement.Further, controller 224 may be in communication with transceiver 244 forcommunicating with computer 260 and/or control system 280 to sendsensory information or other data or information to computer 260 and/orcontrol system 280. Similarly, controller 224 may further be configuredfor receiving instructions, commands, or other information from computer260 and/or control system 280. It should be understood that in furtherembodiments, controller 224 is not required to be directly coupled orincorporated into remote assembly 202. For example, remote assembly 202may be incorporated into or be a component of a computer 260 and/orcontrol system 280. Accordingly, in some embodiments, controller 224 maybe incorporated into or directly paired with computer 260 and/or controlsystem 280. In such embodiments, instructions, commands, or othercommunications may be sent from controller 224 to remote assembly 202.Remote assembly 202 may comprise computer hardware capable of receivingthe transmitted instructions, commands, or communications fromcontroller 224. For example, in some embodiments, it may be advantageousfor controller 224 to be incorporated into a high-powered computingsystem that can transmit information to remote assembly 202.

As further depicted in the block diagram of FIG. 2 and in someembodiments, remote assembly 202 may further comprise motion controls230. Motion controls 230 may be configured and adapted for controllingthe movement of remote assembly 202, including any utility arms orcamera mounts as described in greater detail below. In some embodiments,remote assembly 202 may comprise a 6 DOF robot unit configured withutility arms and/or camera mounts that can move with 6 DOF. Accordingly,motion controls 230 may be configured to provide instructions orcommands to remote assembly 202 to move in 6 DOF. In some embodiments,motion controls may comprise x-axis control 232, y-axis control 234,z-axis control 236, pitch control 238, yaw control 240, and/or rollcontrol 242 for moving remote assembly 202 with 6 DOF. It will beappreciated however, that remote assembly 202 may comprise varyingdesigns, and in some embodiments, may move in fewer than 6 DOF.Accordingly, in further embodiments, motion controls 230 may comprisecontrols configured and adapted for moving remote assembly 202 in anappropriate number of planes.

As described above, motion controls 230 may be in communication withcontroller 224. Instructions or commands from controller 224 may be sentto motion controls 230. Upon receipt of the instructions, thecorresponding controls 232, 234, 236, 238, 240, and/or 242 may beinstructed to cause movement of the remote assembly 202 based on thereceived instructions. As described above, one or more arms or limbs ofremote assembly 202 may be configured to move with 6 DOF. Based on theinstructions, the corresponding motion controls 230 may cause movementof the remote assembly 202 to correspond to the instructions.

As described above, remote assembly 202 may be communicatively coupledto computer 260. In some embodiments, computer 260 may be directlycoupled to remote assembly 202, such that computer 260 and remoteassembly 202 are a combined system. For example, computer 260 may bedirectly installed into a frame or body of remote assembly 202.Accordingly, remote assembly 202 and computer 260 may be in directcommunication through cables or other direct methods. In furtherembodiments, computer 260 may be located external to remote assembly202. When located externally, remote assembly 202 and computer 260 maynevertheless be communicatively coupled. For example, in someembodiments, remote assembly 202 and computer 260 may be coupled througha physical connection such as an Ethernet cable or USB cable. In furtherembodiments, remote assembly 202 and computer 260 may be coupled througha wireless connection, such as Wi-Fi, BLUETOOTH®, cellular connection,or another wireless connection. In embodiments in which computer 260 andremote assembly 202 are connected through a wireless connection,transceiver 244 may communicate with another transceiver 250 coupled orotherwise in communication with computer 260.

In some embodiments, computer 260 may receive and process sensoryinformation captured by remote capture device 210 of remote assembly202. Accordingly, computer 260 may comprise at least a processor 262 forexecuting commands, which may include instructions for processing,analyzing, or utilizing captured sensory information. For example, asdescribed in greater detail below, computer 260 may utilize capturedthree-dimensional information to generate a point-cloud,three-dimensional model, or other digital representation of an object orarea captured by remote capture device 210. In further embodiments,computer 260 may be in communication with one or more databases or datastorages. For example, computer 260 may be in communication with adatabase comprising information directed to product or objectinformation in a telecommunication or powerline setting. This may beparticularly beneficial for obtaining information about particularobjects or products that may be encountered in the application ofvarious embodiments. For example, described above, remote assembly 202may comprise a weight estimator utilizing a point cloud for estimatingweight of an object. Computer 260 may utilize the data obtained byweight estimator in making an estimation about the weight of the object.In further embodiments and as described above, remote assembly 202 maycomprise a QR reader for identifying assets or objects. Once a QR codeis scanned, computer 260 may access the storage or database to identifyinformation about the asset or object.

In some embodiments, control system 280 may be an interface, apparatus,or system providing a user with an interactive medium for interactingwith computer 260 and/or remote assembly 202. For example, in someembodiments, control system 280 may comprise at least a processor 282,at least one controller 284, at least one display 288, at least onesensor 290, and at least one transceiver 292. As described in greaterdetail below, some embodiments of the present teachings provide for amethod of controlling remote assembly 202 from a remote location.Continuing with the running example, telecommunications repair or powerline repair sometimes occurs during or immediately after a severeweather storm. This type of scenario can be wrought with dangers such asexposed and live power lines, high winds, lightning, and other dangersthat pose a risk to human workers. Accordingly, it may be advantageousfor an operator of remote assembly 202 to control remote assembly 202 ina safe location, such as in a work truck or building away from the jobsite. Accordingly, control system 280 may comprise at least oneinterfacing controller 284, providing an interactive means for a user toinput commands or instructions for controlling or manipulating remoteassembly 202. Controller 284 may be any interface for inputting commandsor instructions that can be transmitted and processed by a computer orother hardware. By way of non-limiting example, controller 284 maycomprise hand-held motion control controllers. As described in greaterdetail below, the motion control controllers may be beneficial for anoperator to perform specific movements or actions that can be capturedand relayed to remote assembly 202 to perform. Through the use ofmotion-control controllers, an operator may be provided with a sensoryeffect similar to being at the job site and performing the actionsthemselves. However, controller 284 is not limited to motion controlsand instead, controller 284 may be any interface for an operator toinput instructions or commands for remote assembly 202. For example, infurther embodiments, controller 284 may be a handheld controller,similar to that of a video game controller comprising thumb sticks,buttons, triggers, and/or other interfacing inputs. In furtherembodiments, controller 284 may comprise a joystick and button design.In even further embodiments, controller 284 may be a mouse and keyboard.In even further embodiments, controller 284 may be configured as a gloveor interactive model of a hand, allowing an operator to perform nativehand manipulations which may be captured and transmitted to remoteassembly 202. In even further embodiments, controller 284 may comprise acamera component or other motion capture component for capturing themovement of an operator. For example, in addition to, or in place of aphysical controller handled by the operator, a camera component maycapture the movement of the operator. The captured movement may betransmitted to computer 260 for translation or mapping movement ofremote assembly 202. Optionally, or additionally, motion capture aids,such as motion capture dots, may also be used for capturing movement ofthe operator. In further embodiments, operator inputs may further becaptured through AC electromagnetic tracking. In even furtherembodiments, operator inputs may further be captured through an activeforce feedback imitative control. In even further embodiments, operatorinputs may be further captured through a passive force feedbackimitative control. It will be appreciated that the examples providedherein are intended to be illustrative, rather than limiting, and thatcontroller 284 may be any apparatus or method of receiving instructionsor an input from an operator or computer for autonomous control.

In some embodiments, control system 280 may further comprise a powermedium 286 for powering one or more parts or components of controlsystem, including for example controller 284, display 288, or the atleast one sensor 290, or any combination thereof. In some embodiments, asingle power medium may power all parts or components of control system280. In further embodiments, individual parts, or components of controlsystem 280 may comprise a separate and distinct power medium 286. Forexample, a first power medium 286 may be used for powering controller284 and a second power medium 286 may be used for powering display 288.Power medium 286 may be any conventionally known power source forproviding power to an electrical device, including but not limited to aninternal power source such as a battery, or an external battery sourcesuch as an electrical outlet.

As further depicted in FIG. 2 , control system 280 may further compriseat least one display 288. In some embodiments, display 288 may be amonitor, touchscreen, television screen, or any other display. In someembodiments, at least a portion of the captured sensory information fromremote capture device 210 may be displayed on display 288 for anoperator to view. For example, captured video may be displayed ondisplay 288. Providing sensory information on display 288 may provide anoperator with a more immersive feel when remotely operating remoteassembly 202. Through a real-time video feed, an operator may experiencethe job site as if the operator is physically present, even if theoperator is in a safe location miles away. Additionally, providingsensory information to an operator via display 288 may aid the operatorin inputting instructions or commands via controller 284.

In some embodiments, control system 280 may further comprise at leastone sensor 290, which may provide additional sensory affect to theoperator and/or capture additional inputs that may be used by computer260 to provide instructions to remote assembly 202. In some embodiments,one or more sensors may be combined with controller 284 and/or one ormore sensors may be combined with display 288. For example, in someembodiments, sensor 290 may be at least one speaker or sound emittingdevice to provide the operator with audio information captured fromremote capture device 210 or pre-recorded or pre-rendered audio. Infurther embodiments, the at least one sensor 290 may be one of aninclinometer, an accelerometer, a gyroscope, a light sensor,magnetometers, pose sensors, rotary encoders, or any other type ofsensor 290 suitable to detect the viewing angle of the user or themovement, position, or angle of the operator's body.

In some embodiments, and as described in greater detail below, anoperator may utilize controller 284, display 288, and the at least onesensor 290 to provide instructions to remote assembly 202, which may beanalyzed and translated into instructions to cause remote assembly 202to move or perform an action. As also described in greater detail below,an operator may input instructions or commands through control system280. In some embodiments, inputs may be inputted or captured by acombination of controller 284 and display 288. For example, display 288may be coupled to a head-mounted unit as described in greater detailbelow. An operator may move their head or torso with sensor 290capturing the movement and/or viewing angle of the operator. Thecaptured movement data or viewing angle may be sent to computer 260 viatransceiver 292, and computer 260 may take the captured movement data orviewing angle and translate into instructions for causing remoteassembly 202 to move and mimic or replicate the operator's movement andmatch the viewing angle of the operator.

Exemplary Hardware

FIG. 3 is an exemplary embodiment of a remote assembly system 300. Insome embodiments, the remote assembly system 300 may comprise variousassemblies, sub-assemblies, parts, or components, including but notlimited to a robot unit 302 affixed at the end of a boom assembly 114.Further, the remote assembly system 300 may correspond to the remoteassembly 202 as described above with respect to FIG. 2 and may compriseany and all of the components or parts as described above. In someembodiments, robot unit 302 may be configured and adapted to receiveinstructions from a computer or operator to perform a correspondingmovement or action. In some embodiments, robot unit 302 may be a fullymanually controlled robot, wherein the robot unit 302 will not perform amovement or action absent an instruction provided from an operator. Infurther embodiments, robot unit 302 may be a fully automated robot,wherein the robot unit 302 performs actions or movements based onpre-programmed instructions for automation. In even further embodiments,robot unit 302 may be a robot configured to respond to both manuallyinputted instructions and automated programming. The various movementsor actions performed by robot unit 302 and described herein may beperformed based on manually provided instructions and/or automatedprogramming. Accordingly, embodiments of the present technology areanticipated to support fully autonomous control, fully manual control,or a hybrid (semi-autonomous) control wherein the operator isinteracting with and providing manually provided inputs along withautomated inputs to control remote assembly system 300.

As described above and as illustrated in FIG. 3 , in some embodimentsremote assembly system 300 may be positioned at the distal end 122 ofboom assembly 114. As used herein, remote assembly system 300 and system300 may be used interchangeably. As depicted, in some embodiments,distal end 122 of boom assembly 114 may comprise a pivot joint 130comprising a motor 132. In some embodiments, pivot joint 130 may be usedto change an angle or position of remote assembly system 300. In furtherembodiments, pivot joint 130 may be paired with a sensor, such as aninclinometer paired with a rotary encoder for closed-loop feedback, toaid in maintaining a leveled position of remote assembly system 300.However, pivot joint 130 may comprise any sensor, including but notlimited to magnetometers, pose sensors, rotary encoders, among othersensors. As further depicted in FIG. 3 , pivot joint 130 may further actas an attachment point between remote assembly system 300 and boomassembly 114. For example, base 150 may be coupled to pivot joint 130.Base 150 may be adapted and configured for receiving and coupling remoteassembly system 300. Accordingly, through such coupling, remote assemblysystem 300 may be secured and attached to boom assembly 114. In someembodiments, base 150 may comprise a generally planar design foraccepting and securing one or more assemblies, sub-assemblies, parts, orcomponents of remote assembly system 300. Further, the size and shape ofbase 150 may vary, and may be dependent on the design of remote assemblysystem 300. Further, in some embodiments, base 150 may further comprisea motorized turntable 152. Motorized turntable 152 may be a power motortrain system for rotating base 150. The rotation of base 150 may beadvantageous for positioning remote assembly system 300 during use. Insome embodiments, the various assemblies, sub-assemblies, parts, and/orcomponents of system 300 may be adapted and configured to be selectivelyand removably attached to boom assembly 114. For example, utilityvehicle 112 may be driven to a job location with a bare boom assembly114, with the various assemblies, sub-assemblies, parts, and/orcomponents of system 300 stored in or on utility vehicle 112. Once atthe job site, system 300 may be assembled for use. This may beadvantageous for protecting aspects of system 300 during transit.

In some embodiments, remote assembly system 300 may generally comprise arobot unit 302. Robot unit 302 may be a controllable robotics unit thatcan perform a range of movements and actions, such as performing repairwork in a telecommunications setting. In some embodiments, and asdescribed in greater detail below, robot unit 302 may be a 6 DOFrobotics assembly, configured and adapted for mimicking the movement ofan operator utilizing a VR controller. Particularly, through a 6-DOFconfiguration, robot unit 302 may substantially mimic the torso, neck,and arm movements of the operator. Through such movement, robot unit 302may perform a greater range of movements and/or provide a more immersiveexperience to an operator than pre-existing systems.

In some embodiments, robot unit 302 may comprise a central hub 304.Central hub 304 may be a central housing or base, which may house aprocessor, a power source, circuitry, a wireless communication meansamong other electronics for robot unit 302, including the componentsdescribed above with respect to FIG. 2 . Additionally, central hub 304may act as a coupling or attachment member, securing robot unit 302 tobase 150. Even further, central hub 304 may also act as a receivingpoint for one or more parts or components of robot unit 302. Forexample, and as described below, robot unit 302 may comprise at leastone utility arm and at least one camera mount. Accordingly, central hub304 may receive and couple with the at least one utility arm and the atleast one camera arm.

To collect sensory information, including but not limited to video andthree-dimensional depth information, robot unit 302 may comprise atleast one camera mount 310. Camera mount 310 may be a 6 DOF, selectivelycontrollable robotic arm, that may couple to central hub 304. Asdescribed in greater detail below, robot unit 302 may receive movementinstructions or commands from computer 260 that may cause camera mount310 to move or change position. For example, camera mount 310 maycorrespond to a head mount or other capture apparatus to capture theviewing angle of an operator. Instructions or commands may becommunicated to robot unit 302 causing camera mount 310 to move in acorresponding manner to match the viewing angle of the operator. Toenhance the operator experience, camera mount 310 may comprise aplurality of camera mount segments 312 that may be separated bymotorized pivotable joints 314. The number and size of camera mountsegments and pivotable joints 314 may vary depending on the embodimentsand application of robot unit 302. Generally, in response to aninstruction or commands, one or more of the pivotable joints 314 mayactivate to rotate or move camera mount 310. In some embodiments, thepivotable joints 314 may be used to move camera mount 310 in the X-axis,Y-axis, Z-axis as well as control the roll, pitch, and yaw of the cameramount 310. Accordingly, through movement in the 6 DOF, camera mount 310may mimic or replicate the viewing angle of the operator. As furtherdepicted in FIG. 3 , a distal end of camera mount 310 may furthercomprise a sensory capture device.

As described above, robot unit 302 may be adapted for performing repairwork, maintenance work, or other similar situations, tasks, or actions.To perform these actions, robot unit 302 may comprise at least oneutility arm. The depicted embodiment as illustrated in FIG. 3illustrates an exemplary embodiment of robot unit 302 comprising twoutility arms 330 a, 330 b. Like camera mount 310 as described above,each of utility arms 330 a, 330 b may comprise a plurality of utilityarm segments 332 that may be separated by motorized pivotable joints334. The number and size of utility mount segments 332 and pivotablejoints 334 may vary depending on the embodiments and application ofrobot unit 302. Generally, in response to an instruction or commands,one or more of the pivotable joints 334 may activate to rotate or moveutility arms 330 a, 330 b. In some embodiments, the pivotable joints 334may be used to move utility arms 330 a, 330 b in the X-axis, Y-axis,Z-axis as well as control the roll, pitch, and yaw of utility arms 330a, 330 b. Accordingly, through movement in the 6 DOF, each utility arm330 a, 330 b may mimic or replicate the movement of an operator's armsand hands. In some embodiments, the distal ends 336 of utility arms 330a, 330 b may comprise one or more tools, flanges, or other apparatus forperforming an action such as repair work. In some embodiments, distalends 336 may comprise an adapter or may be otherwise configured foraccepting a tool. For example, distal ends 336 may be coupled to thebelow-described rotary tools 400, 500.

Remote assembly system 300 may further comprise a remote power source350. In some embodiments, the remote power source 350 may be secured tothe base 150. In further embodiments, remote power source 350 may belocated within central hub 304. The remote power source 350 may be usedto power camera mount 310, utility arm 330 a, utility arm 330 b, arm390, or any combination thereof. Remote power source 350 may be anelectric generator, batteries, or any other known power source.

In further embodiments, robot unit 302 may comprise one or moreadditional capture devices or sensors 360 for capturing additionalinformation that may be analyzed and/or presented to a user or operator.For example, in some embodiments, robot unit 302 may comprise athermometer or heat sensor for capturing heat information. In someembodiments, robot unit 302 may comprise an electrical sensor forcapturing electrical data. For example, robot unit 302 may be used towork on power lines or in other scenarios involving live power lines orother electrically charged wires or circuitry. Accordingly, to avoiddamage to the robot unit 302, the boom assembly 114, or the utilityvehicle 112, at least one sensor 360 may be a sensor for detecting anelectrical current. Additionally, robot unit 302 may comprise at leastone sensor 360 that is at least one of an accelerometer, gyroscope,light sensor, or other sensors for detecting the positioning of cameramount 310, utility arm 330 a, and/or utility arm 330 b. As described ingreater detail below, a sensor for detecting the positioning of robotunit 302 may aid in replicating or mimicking movement of an operatorusing motion controls.

In some embodiments, and as depicted in FIG. 3 , in addition to robotunit 302, remote assembly system 300 may further comprise at least oneheavy utility arm 390 or additional robotics assembly that may operateseparately or in conjunction with robot unit 302. For example, in manyrobotics applications, a delicate balance is often considered whendesigning the features and capabilities of a robot. Typically, roboticsadapted and configured for delicate work and fine adjustments aretypically not capable of transporting or holding heavy loads.Conversely, robotics adapted and configured for holding or transportingheavy loads typically lack the structural components to perform delicateor fine-tuned actions. By way of non-limiting example, intelecommunication repairs, heavy parts may need to be lifted from theground to a telecommunication pole. Lifting a heavy part may require arobotic system configured for transporting heavy loads. However, once inposition, the part may need a robotic system configured for delicate orsophisticated operations to install the part in position. In someembodiments, robot unit 302 may be configured and adapted for performingmovements or actions directed to sophisticated, delicate, or fine-tuningwork, such as manipulating wire, cutting wire, loosening screws andbolts. In some embodiments, 300 may comprise at least one utility arm390 for holding or transporting heavy loads that may be too heavy forrobot unit 302 to safely hold and transport. Accordingly, through thecombination of robot unit 302 and utility arm 390, remote assemblysystem 300 may perform both dexterous actions and load-bearing actions.

Rotary Tool

FIG. 4A illustrates a perspective view of a rotary tool 400 for someembodiments. Rotary tool 400 may be used with remote assembly system300, for example. Rotary tool 400 may be configured to attach to robotunit 302 (e.g., on an arm 330 a, 330 b) for operating remotely on livepower lines. In some embodiments, the robot unit 302 operates a drill(e.g., an impact drill) that can couple to and power rotary tool 400. Insome embodiments, rotary tool 400 is a stand-alone unit and may bepowered by an integrated motor, for example. The integrated motor maycomprise a gearbox and drive the drive system (discussed below). Rotarytool 400 may be used to manipulate wire ties on conductors. Often, alineman working on live power lines will need to unwind a wire tie froma conductor to remove the conductor from a pole top or to jump from afirst conductor to a second conductor, for example. Because theenergized power line is at a high voltage and, therefore, the wire tieis at the same high voltage, such an operation is dangerous to theoperator due to the electrocution risk. Furthermore, unwinding the wiretie by hand can be a slow and cumbersome task. Thus, it is desirable toremotely unwind the wire tie to reduce the risk of injury and toincrease the speed of removing wire ties. Furthermore, when operating onpower lines using remote robotic systems, it would be advantageous forthe robotic system to be able to unwind wire ties from the conductors.

Rotary tool 400 may comprise a housing 402 having a proximal end 404 aand a distal end 404 b. Proximal end 404 a may be coupled to a drivesystem 406 and may present a slot 408 a therein for receiving theconductor. Housing 402 may be substantially cylindrical and, asdepicted, may present an opening 410 therein. In some embodiments,housing 402 comprises a first side wall 412 a substantially opposite asecond side wall 412 b. In some embodiments, side walls 412 a, 412 b aresubstantially similar. In some embodiments, a motor for powering rotarytool 400 may be received in opening 410 and between side walls 412 a,412 b (FIG. 4C). For example, a drill motor may be used to power drivesystem 406. In some embodiments, the drill is an impact drill operatedby robot unit 302.

Drive system 406 may be configured as a planetary gear set comprising asun gear 414 driving at least one planetary gear 416 that, in turn,drives a ring gear 418. Sun gear 414 may mesh with planetary gears 416,and planetary gears 416 may mesh with sun gear 414 and ring gear 418.Ring gear 418 may comprise a gap 420 therein in which the conductor maybe received. In some embodiments, drive system 406 comprises fourplanetary gears 416. Additional or fewer planetary gears 416 may be usedin drive system 406 without departing from the scope hereof. In someembodiments, the number of planetary gears 416 is in the range of two toeight planetary gears. Each planetary gear 414 may be coupled to asleeve 422. In some embodiments, planetary gears 416 are coupled to acarrier. In some embodiments, planetary gears 416 are stationary withrespect to the motor such that only sun gear 414 is directly driven bythe actuation of the motor.

Rotary tool 400 may also comprise an outer plate 424 disposed proximallyfrom drive system 406 such that drive system 406 is sandwiched betweenproximal end 404 a and outer plate 424. For clarity of illustration,outer plate 424 is depicted transparently in FIG. 4A such that gears414, 416, 418 are visible. In some embodiments, sleeves 422 extend fromproximal end 404 a through planetary gears 416 and outer plate 424 tosecure proximal end 404 a, drive system 406, and outer plate 424together. Outer plate 424 may protect gears 414, 416, 418 fromenvironmental wear and damage. Outer plate 424 may present a slot 408 btherein for receiving the conductor. Slots 408 a, 408 b may besubstantially similar. Slots 408 a, 408 b may be stationary and in-linewith one another, while gap 420 rotates with ring gear 418. In someembodiments, slots 408 a, 408 b and gap 420 have a substantially similarwidth.

A first arm 426 a and a second arm 426 b may protrude from a perimeterof ring gear 418. Arms 426 a, 426 b may be proximal to one another onthe perimeter of ring gear 418. For example, arms 426 a, 426 b may beseparated at an angle of about 5 degrees to about 90 degrees. First arm426 a may comprise a first sleeve 428 a extending substantiallyperpendicular therefrom. A rod 430 may be coupled to a distal end of thesleeve and extend across a face of outer plate 424. Thus, rod 430 may besubstantially parallel to and laterally displaced from outer plate 424.As depicted in FIG. 4B, rod 430 may be inserted between the conductorand the wire tie to manipulate the wire tie. While rod 430 is depictedas a cylinder, it will be appreciated that rod 430 may take variousother shapes without departing from the scope hereof. For example, rod430 may be rectangular. In some embodiments, rod 430 comprises awedge-shaped tip or a conical tip to aid in inserting rod 430 betweenthe conductor and the wire tie. In some embodiments, rod 430 has aform-factor substantially similar to a screwdriver shaft.

Second arm 426 b may comprise a second sleeve 428 b extendingsubstantially perpendicular therefrom. A spring 432 may extend from abearing 434 disposed on a distal end of second sleeve 428 b and coupleto a connector 436 on rod 430. Therefore, as ring gear 418 rotates, thespring 432 may load rod 430 to keep rod 430 proximal to the conductor,and in between the conductor and the wire tie. Thus, as rod 430 iscontinuously rotated, rod 430 causes the wire tie to rotate around andunwrap from the conductor. As the position of rod 430 changes with therotation of ring gear 418, spring 432 may expand and compressaccordingly to keep rod 430 loaded against the conductor.

FIG. 4B illustrates a planar view of drive system 406 for someembodiments. As shown, a conductor 438 may be received within slots 408a, 408 b and gap 420 with rod 430 inserted between conductor 438 andwire tie 440 such that rod 430 is proximal to conductor 438. In someembodiments, rod 430 is held in contact with conductor 438 by spring 432throughout the rotation of ring gear 418. In some embodiments, roboticunit 302 is utilized to insert rod 430 between conductor 438 and wiretie 440. For example, a robotic arm 330 a, 330 b may utilize a grippertool to loosen wire tie 440 off conductor 438 to allow for rod 430 to beinserted therebetween. In some embodiments, a robotic arm 330 a, 330 bor a human operator utilizes a pick tool (or other similar tool) toloosen wire tie 440 from conductor 438. Once loosened, rod 430 may beinserted between wire tie 440 and conductor 438. In some embodiments,after loosening wire tie 440 from conductor 438, robotic arm 330 a, 330b may utilize the gripper tool to help insert rod 430 between conductor438 and wire tie 440. In still other embodiments, rod 430 may comprisehook on a distal end thereof. The hook may be contoured to help engagewith wire tie 440 and drag 440 onto rod 430. In some embodiments, thehook may be rotated at the distal end of rod 430 to engage with a freeend of wire tie 440 (see FIG. 5C). Once engaged, wire tie 440 may bedragged onto rod 430 such that rod 430 is now wedged between conductor438 and wire tie 440 and rotary tool 400 may be operated to manipulatewire tie 440. In some embodiments, rod 430 is wedged between conductor438 and wire tie 440 without the use of an external tool.

In some embodiments, proximal end 404 a comprises a die 442. The die 442may be located near a bottom section of proximal end 404 a, as shown. Insome embodiments, die 442 is located near the top, or along any portionof proximal end 404 a. Die 442 may comprise a first die section 444 aand a second die section 444 b. Die sections 444 a may be substantiallysimilar. In some embodiments, die sections 444 a, 444 b are configuredto force wire tie 440 to bend at about a ninety degree angle such thatwire tie 440 forms a coil as wire tie 440 is bent by die sections 444 a,444 b. In some embodiments, die sections 444 a, 444 b may comprise asurface having a bend angle of about 45 degrees to about 135 degrees. Insome embodiments, die sections 444 a, 444 b have distinct bend angles.As discussed above, as wire tie 440 is unwound from conductor 438, wiretie 440 becomes a floating piece of high voltage that presents a dangerto the operator. As such, coiling wire tie 440 to become more compactmay increase the safety of the operation by reducing the likelihood thatthe unwound portion of wire tie 440 comes in contact with the rotarytool, robot unit 302, or the lineman when rotary tool 400 is beingoperated at the pole top. In some embodiments, a robotic arm 330 a, 330b is operated to feed wire tie 440 into die 442 as wire tie 440 isunwound from conductor 438. In other embodiments, die 442 is not used.For example, pre-formed wire ties often form into a predictable shapewhen unwound and may not present the danger or dielectric issueassociated with non-pre-formed wire ties that unwind in an unpredictablemanner.

FIG. 4C illustrates a second perspective view of rotary tool 400 forsome embodiments. As discussed above, a motor 446 may be received withinhousing 402 and may be coupled to sun gear 414 to actuate drive system406. In some embodiments, motor 446 is integrated with rotary tool 400to power drive system 406. Conductor 438 may be received within slots408 a, 408 b and gap 420 as rotary tool 400 operates. Rotary tool 400may be advanced along conductor 438 as wire tie 440 is unwound.

As previously discussed, in some embodiments, rotary tool 400 may beused for cleaning conductor 438. Often, when performing maintenance onpower lines, it is desirable to clean any corrosive material off theconductor 438. Typically, a hand-held wire brush is used, and a linemanmanually scrub and abrades the corrosive material off the conductor.Such an operation is often performed when jumping a conductor to atransformer or from a first conductor to a second conductor, forexample.

To abrade conductor 438 and remove corrosion or other materialtherefrom, rod 430 may comprise wire bristles or another abrasivematerial on an exterior thereof. In some embodiments, the wire bristlescomprise stainless steel bristles. As discussed above, spring-loadingrod 430 allows for rod 430 to be kept substantially in contact with wiretie 440 throughout the rotation of ring gear 418. Therefore, when rod430 comprises wire bristles thereon, the wire bristles may abradeconductor 438 as rod 430 is rotated and is spring-loaded to be kept incontact with conductor 438. In some embodiments, rod 430 may be used toclean conductor 438 and simultaneously unwind wire tie 440. In otherembodiments, wire tie 440 is unwound before cleaning conductor 438. Insome embodiments, rod 430 is interchangeable such that a first rod maybe used to unwind wire tie 440, and a second rod having wire bristlesthereon can replace the first rod and be used to clean conductor 438.The first rod and the second rod may be stored on a tool changer of therobotic unit, 302 for example.

FIG. 5A illustrates a perspective view of a second embodiment of therotary tool for some embodiments, designated as rotary tool 500.

Rotary tool 500 may comprise a housing 502 having a proximal end 504 aand a distal end 504 b. Housing 502 may be substantially similar tohousing 402, presenting an opening 510 therein for the insertion of amotor 446 to drive a drive system 506. In some embodiments, housing 502comprises a first side wall 512 a opposite a second side wall 512 b. Insome embodiments, rotary tool 500 comprises a handle 511. Handle 511 mayallow a lineman to hold and operate rotary tool 500 for manualoperation. In some embodiments, handle 511 is omitted from rotary tool500, such as when rotary tool 500 is operated by robotic unit 302.

Proximal end 504 a may be coupled to drive system 506 and may present aslot 508 a therein for receiving a conductor 438. Drive system 506 maybe substantially similar to drive system 406. In some embodiments, drivesystem 506 is coupled to an outer housing 524, which may present a slot508 b. As illustrated in FIG. 5B, in some embodiments, drive system 506comprises a sun gear 514 driving one or more planetary gears 516 that,in turn, drive a ring gear 518. In some embodiments, ring gear 518comprises a receiving arm 526 on a perimeter thereof. Receiving arm 526may be substantially cylindrical and comprise a hole therethrough toreceive a free end 530 of wire tie 440. Receiving arm 526 rotates withring gear 518, thereby rotating wire tie 440 about conductor 438 andunwinding wire tie 440 therefrom. Receiving arm 526 may also be used towind wire tie 440 about a conductor 438. For example, drive system 506may be driven in a first direction to unwind wire tie 440 and driven ina second direction to wind wire tie 440 about conductor 438. As wire tie440 is wound or unwound about wire tie conductor 438, rotary tool 500may be advanced along the conductor 438.

Looking now at FIG. 5B, a planar view of drive system 506 is depictedfor some embodiments. As described above, drive system 506 may besubstantially similar to drive system 406 and comprise a set of gearsconfigured to rotate wire tie 440 about the conductor 438 to tie oruntie the wire tie 440 therefrom. A sun gear 514 may be locatedsubstantially in a center of drive system 506. Sun gear 514 may becoupled to motor 446, such as via a shaft (not shown). A plurality ofplanetary gears 516 may be coupled to sun gear 514. In some embodiments,the plurality of planetary gears 516 comprises in the range of two toeight planetary gears. Each planetary gear 516 may be stationary withrespect to motor 446.

A ring gear 518 may be coupled to planetary gears 516. In someembodiments, the ring gear 518 is circumferential about sun gear 514.Ring gear 518 may comprise a gap 520 therein. In some embodiments, slots508 a, 508 b and gap 520 receive conductor 438, such that conductor 438lies within slots 508 a, 508 b and gap 520. Slots 508 a, 508 b may bestationary while gap 520 rotates with ring gear 518. Ring gear 518 maybe coupled to receiving arm 526 such that rotation of ring gear 518rotates receiving arm 526.

When motor 446 is actuated, sun gear 514 may be driven and rotated. Sungear 514 drives planetary gears 516, which, in turn, drive ring gear518. As ring gear 518 rotates, receiving arm 526 and wire tie 440 heldtherein are rotated about the conductor 438, which is held substantiallystationary within slots 508 a, 508 b. Thus, wire tie 440 may be wrappedor unwrapped about conductor 438, depending on a direction of rotationof drive system 506. For example, rotating ring gear 518 in a firstdirection about conductor 438 may unwind wire tie 440 therefrom, whilerotating ring gear 518 in a second direction that is opposite the firstdirection may wind wire tie 440 about conductor 438.

Also illustrated in FIG. 5B is a cutter 528. As previously described, aswire tie 440 is unwrapped from conductor 438 and physically separatedtherefrom, the unwound portion maintains the high voltage of conductor438. Because the unwound portion of wire tie 440 is no longer tied toconductor 438, the unwound portion may be susceptible to being blown bythe wind and may be blown into the lineman, the robot, and othergrounded components (e.g., steel cross-arms, poles, phases, etc.),thereby presenting a danger to the operations. Therefore, in someembodiments rotary tool 500 comprises cutter 528 to shear off theunwound portion of wire tie 440. Cutter 528 may be disposed behindreceiving arm 526 such that, as wire tie 440 is fed through receivingarm 526, wire tie 440 is then cut by cutter 528. Thus, for each rotationof ring gear 518, the portion of wire tie 440 that was unwound is thensheared off and does not present a danger to the surroundings. Cutter528 may be a stationary metal blade and in the rotating path of drivesystem 506 such that the motor 446 can drive the shearing actionthereof. Once cut, the cut portion of wire tie 440 no longer has thehigh voltage and does not present a danger to the lineman or roboticequipment. In some embodiments, cutter 528 is configured to cut wire tie440 one time per revolution of ring gear 518. In some embodiments,cutter 528 makes two or more cuts per revolution of ring gear 518. Inother embodiments, cutter 528 may make a single cut per two or morerevolutions of ring gear 518. Cutter 528 may be coupled to housing 502,as shown. In some embodiments, cutter 528 protrudes from proximal end504 a. In some embodiments, the dexterous arm of the robot is configuredto cut or coil the unwound portion of wire tie 440. In some embodiments,rotary tool 400, 500 is configured to catch the cut portion of wire tie440. For example, a receptacle may be used to catch the cut portion.Alternatively, or additionally, magnets may be used. In someembodiments, a robotic arm 330 a, 330 b operates a receptacle or otherreceiving device to catch the cut portions.

It should be noted that rotary tool 500 may also comprise die 442, andfree end 530 of wire tie 440 may be fed through receiving arm 526 to die442 to bend wire tie 440 into a coil. Similarly, rotary tool 400 maycomprise cutter 528 without departing from the scope hereof. The use ofa cutter 528 may be advantageous for cutting wire ties 440 made fromsofter material (e.g., aluminum or copper). The use of die 442 may beadvantageous for harder materials (e.g., steel) and/or for wire tieshaving a gauge size that makes cutting the wire tie difficult. In someembodiments, rotary tool 400, 500 comprises both a die 442 and a cutter528, and either or both of die 442 and cutter 528 may be employed whilemanipulating wire ties.

FIG. 5C illustrates rotary tool 500 unwrapping a wire tie 440 wrappedaround conductor 438 for some embodiments. As discussed above, wire ties440 are often wrapped around conductors to secure the conductors toinsulators 532 that are disposed on a cross-arm 534 atop a utility pole(not shown).

In some embodiments, robot unit 302 is configured to unwind the wire tie440 from conductor 438 to a predefined distance from insulator 532. Forexample, the remote assembly system 300 may operate until a distal endof rotary tool 500 reaches the predefined distance to prevent crashinginto insulators 532. In some embodiments, remote capture device 210 isconfigured to perform object detection to determine how far away rotarytool 500 is from insulator 532. When rotary tool 500 is at or proximalto the predefined distance, remote assembly system 300 may pull aremaining portion of wire tie 440 off insulators 532. For example, thepredefined distance may be set such that the wire tie is able to bepulled off insulator 532 using a gripper tool or the like operated by autility arm 330 a, 330 b.

While embodiments herein have been described with respect to usingrotary tool 400, 500 on live power lines, rotary tool 400, 500 may beused to manipulate wires in various applications. For example, rotarytool 400, 500 may be manually operated to wind or unwind a first wireabout a second wire, or a wire about any object that can be receivedwithin the slots 408 a, 408 b, 508 a, 508 b of rotary tool 400, 500. Insome embodiments, the wire tie is first tied to an insulator (e.g.,using utility arms 330 a, 330 b) before being wound about the conductor.It will be appreciated that rotary tool 400, 500 may be sized based onthe object that a wire is wound or unwound about. For example, forobjects larger than a conductor on an energized power line the size ofrotary tool 400, 500 may be increased to fit the object within theslots.

The following U.S. patent applications, each filed Jul. 28, 2022, areeach hereby incorporated by reference in their entirety as if set forthherein verbatim: U.S. Application Ser. No. 63/392,927, titled “REDUCINGLATENCY IN HEAD-MOUNTED DISPLAY FOR THE REMOTE OPERATION OF MACHINERY”;U.S. Application Ser. No. 17/875,674, titled “MANUAL OPERATION OF AREMOTE ROBOT ASSEMBLY”; U.S. Application Ser. No. 17/875,710, titled“AUTONOMOUS AND SEMI-AUTONOMOUS CONTROL OF AERIAL ROBOTIC SYSTEMS”; U.S.Application Ser. No. 17/875,796, titled “COOPERATIVE HIGH-CAPACITY ANDHIGH-DEXTERITY MANIPULATORS”; U.S. Application Ser. No. 17/875,821,titled “OPERATION AND INSULATION TECHNIQUES”; U.S. Application Ser. No.17/875,893, titled “COORDINATE MAPPING FOR MOTION CONTROL”; U.S.Application Ser. No. 17/875,943, titled “WIRE TENSIONING SYSTEM”; U.S.Application Ser. No. 17/875,990, titled “CROSS-ARM PHASE-LIFTER”; andU.S. Application Ser. No. 63/393,047, titled “ELECTRICALLY INSULATINGBLANKET WITH MEMORY SET”. The subject matter described in the foregoingU.S. patent applications may be combined with the subject matter of thepresent disclosure. For example, one or more embodiments, features,structures, acts, etc. described in any one or more of the foregoingU.S. patent applications may be combined with one or more embodiments,features, structures, acts, etc. described in the present disclosure.

Although the present teachings have been described with reference to theembodiments illustrated in the attached drawing figures, it is notedthat equivalents may be employed, and substitutions made herein withoutdeparting from the scope of the present teachings as recited in theclaims.

Having thus described various embodiments, what is claimed as new anddesired to be protected by Letters Patent includes the following:

The invention claimed is:
 1. A system for remotely manipulating wireties on energized power lines, the system comprising: a robot unitmounted to a boom assembly, comprising: at least one robotic arm forperforming an action; and at least one camera for capturing visualinformation; and a rotary tool driven by the robot unit, comprising: ahousing coupled to the at least one robotic arm, the housing comprisinga slot for receiving a conductor therein; a drive system coupled to thehousing, the drive system comprising a planetary gear set, and aspring-loaded rod coupled to a ring gear of the planetary gear set,wherein the spring-loaded rod is configured to be inserted between theconductor and a wire tie wound around the conductor, wherein when therobot unit drives the drive system, the ring gear of the planetary gearset is rotated around the conductor and drives the planetary gear set,thereby rotating the spring-loaded rod to unwind the wire tie from theconductor.
 2. The system of claim 1, wherein the ring gear comprises afirst arm coupled to a rod and a second arm coupled to a spring, andwherein the spring is coupled to the rod to spring-load the rod to keepthe rod proximal to the conductor as the ring gear rotates.
 3. Thesystem of claim 1, wherein the at least one robotic arm comprises afirst robotic arm and a second robotic arm, wherein the first roboticarm is coupled to the rotary tool, and wherein the second robotic armcomprises a gripper to manipulate the wire tie for inserting the rodbetween the conductor and the wire tie.
 4. The system of claim 1,wherein the rod comprises an abrasive material on an exterior thereoffor removing corrosion from the conductor.
 5. The system of claim 1,wherein the ring gear comprises a receiving portion having a holetherethrough and extending from a perimeter of the ring gear, andwherein the receiving portion receives a free end of the wire tie and isrotated with the ring gear to unwind the wire tie from the conductor. 6.The system of claim 5, wherein the receiving portion is configured tofeed an unwound portion of the wire tie to a cutter, wherein the cuttercuts the unwound portion of the wire tie to remove the unwound portionof the wire tie from an energized portion of the wire tie.
 7. The systemof claim 5, wherein the receiving portion is configured to feed anunwound portion of the wire tie to a die, wherein the die bends theunwound portion of the wire tie to form the unwound portion of the wiretie into a coil.
 8. The system of claim 1, wherein the drive system isdriven by one of an impact drill or an integrated motor.
 9. A rotarytool for remotely operating on live power lines, comprising: a housingcomprising a first slot for receiving a conductor therein; a drivesystem coupled to the housing, the drive system comprising: a sun gearconfigured to be coupled to a motor; a plurality of planetary gearsmeshed with the sun gear; and a ring gear meshed with the plurality ofplanetary gears; and a spring-loaded rod coupled to the ring gear,wherein the spring-loaded rod is configured to be inserted between theconductor and a wire tie wound around the conductor, and wherein whenthe drive system is driven by the motor, the ring gear is rotated by thesun gear and drives the plurality of planetary gears, thereby rotatingthe spring-loaded rod to unwind the wire tie from the conductor.
 10. Therotary tool of claim 9, wherein the housing further comprises a cutterfor cutting an unwound portion of the wire tie as the wire tie isunwound from the conductor.
 11. The rotary tool of claim 9, wherein thehousing further comprises a die, the die formed to bend the wire tieinto a coil as the wire tie is fed through the die.
 12. The rotary toolof claim 11, wherein a surface of the die comprises an angle of aboutninety degrees.
 13. The rotary tool of claim 9, wherein the ring gearcomprises a first arm and a second arm extending from a perimeterthereof, wherein the spring-loaded rod is coupled to the first arm,wherein a spring is coupled to the second arm, and wherein the springextends from the second arm and couples to the spring-loaded rod to keepthe spring-loaded rod in contact with the conductor as the ring gearrotates.
 14. The rotary tool of claim 13, wherein the spring-loaded rodcomprises a plurality of wire bristles on an exterior surface thereof toclean the conductor.
 15. A rotary tool for remotely operating on livepower lines, comprising: a housing comprising a slot for receiving aconductor therein; a drive system, the drive system comprising: a sungear configured to be coupled to a motor for driving the drive system; aplurality of planetary gears meshed with the sun gear, wherein theplurality of planetary gears is driven by the sun gear; and a ring gearmeshed with and driven by the plurality of planetary gears, wherein thering gear comprises a receiving portion extending away from an outerperimeter of the ring gear for receiving a free end of a wire tietherein, and wherein actuation of the drive system causes the ring gearto rotate around the conductor, thereby unwinding the wire tie from theconductor, and a spring-loaded rod coupled to a ring gear of theplurality of planetary gears, wherein the spring-loaded rod isconfigured to be inserted between the conductor and the wire tie woundaround the conductor, wherein when the drive system is driven by themotor, the ring gear is rotated by the sun gear and drives the pluralityof planetary gears, thereby rotating the spring-loaded rod to unwind thewire tie from the conductor.
 16. The rotary tool of claim 15, whereinthe housing is configured to couple to a first arm of a robotic unit.17. The rotary tool of claim 15, wherein the plurality of planetarygears is in a range of two to eight.
 18. The rotary tool of claim 17,wherein the housing comprises a cutter disposed proximal to thereceiving portion, wherein the cutter cuts the wire tie after the wiretie is fed through the receiving portion.
 19. The rotary tool of claim18, wherein the cutter is configured to make one cut per revolution ofthe ring gear.
 20. The rotary tool of claim 17, wherein the housingcomprises a die disposed proximal to the receiving portion, wherein thedie forms the wire tie into a bend after the wire tie is fed through thereceiving portion.